基于双目视觉技术的物体深度信息的提取

传统的双目匹配算法得到的数据是左右视图匹配点的二维坐标;但二维坐标将丢失物体的三维深度信息。提出一种利用视差原理在世界坐标系内计算该物点在现实中所对应点的三维坐标的新方法。该方法分为三部分:第一部分为双目相机的标定,包括内参(主点、焦距、径向畸变、不垂直因子)以及两相机之间的外参(旋转矩阵和平移矩阵)。第二部分为特征点的提取与匹配,特征点的提取则是利用SIFT算子提取左右视图的特征点,匹配则是将两视图中的对应点(现实中为同一点)利用SIFT算法进行匹配。第三部分为物体深度信息的计算,利用双目相机的视差原理和已经得出的双目相机的参数进行空间还原得到相应的左右视图投影投射矩阵,结合空间几何线性关系计算出该点在世界坐标系的三维坐标,从而得出其深度信息。

The Extraction of Depth Information about the Object Based on Binocular Vision

The traditional binocular matching algorithm is to obtain the 2-d coordinates of the matching point view, but the 2-d coordinates will lose the 3-d depth information of the object, and the innovation point of this article is to calculate the 3-d coordinate of the corresponding points in the world coordinate system mathematically based on the principle of parallax. In this paper, the whole measurement process can be divided into three parts: the first part is for the calibration of binocular camera, the second part is the analysis and matching of feature points, the third part is the measurement of object depth information. Calibration is to measure the various parameters of the camera hardware itself, which includes the value of focus, focal length, radial distortion, lateral distortion and the relationship of the location between two binocular camera lens, the feature-points-matching is to process the two images taken by the binocular camera, and match the feature point in each image (the same point in real world),then use SIFT matching algorithm to match the corresponding point. The last step is to calculate the final result based on the parallax of the binocular camera principle and the parameters we got in calibration step, after that we will obtain the 3-d coordinate of the point in the world coordinate system and get the depth information.